Inspection system, extraction device, and inspection method

Abstract

An inspection system, an extraction device, an inspection method, an extraction method, and a program that are capable of improving measurement accuracy are provided. An inspection system includes: a measurement device being arranged at a measurement point inside a tunnel, having a reference point, and acquiring a plurality of pieces of data including coordinate values and brightness values of a wall surface of the tunnel as point cloud data by using one or more beams irradiated in irradiation directions at a plurality of different angles to the reference point and receiving reflected light of the beam resulting from scanning the wall surface; a movement means for moving the measurement device to a plurality of measurement points inside the tunnel; and, in the point cloud data acquired by the measurement device for each measurement point, an extraction means for extracting data, based on a distance from the measurement point.

What is claimed is: 
     
         1 . An inspection system comprising:
 a measurement device arranged at a measurement point in an inside of a tunnel, the measurement device having a reference point and being configured to acquire, as point cloud data, a plurality of pieces of data including a coordinate value and a brightness value of a wall surface of the tunnel by using one or more beams irradiated in irradiation directions at a plurality of different angles with respect to the reference point and receiving reflected light of the beam resulting from scanning the wall surface;   movement unit configured to move the measurement device to a plurality of the measurement points in an inside of the tunnel; and   extraction unit configured to extract the data in point cloud data acquired by the measurement device for each measurement point, based on a distance from the measurement point.   
     
     
         2 . The inspection system according to  claim 1 , wherein the measurement device has a rotation center axis passing through the reference point, rotates one or more of the beams irradiated in irradiation directions at a plurality of different angles with respect to the rotation center axis around the rotation center axis, and receives reflected light of the beam resulting from scanning a wall surface of the tunnel, thereby acquiring the point cloud data. 
     
     
         3 . The inspection system according to  claim 2 , wherein the extraction unit extracts data on a vertical plane orthogonal to the rotation center axis. 
     
     
         4 . The inspection system according to  claim 2 , wherein the movement unit aligns the rotation center axis with a moving direction of the measurement device. 
     
     
         5 . The inspection system according to  claim 2 , wherein the movement unit aligns the rotation center axis with a center axis of the tunnel. 
     
     
         6 . The inspection system according to  claim 1 , wherein the extraction unit extracts data indicating a shortest distance from the measurement point. 
     
     
         7 . The inspection system according to  claim 1 , further comprising data storage unit configured to store the data together with information indicating the measurement point. 
     
     
         8 . The inspection system according to  claim 7 , wherein the data storage unit stores the data converted into a coordinate value of a common coordinate system between measurement points by using information indicating the measurement points. 
     
     
         9 . The inspection system according to  claim 1 , further comprising calculation unit configured to calculate a calculation surface approximated to an original shape of the wall surface, based on the coordinate value of the data included in the point cloud data acquired by the measurement device,
 wherein the extraction unit extracts the data, based on a distance from the measurement point to the calculation surface.   
     
     
         10 . The inspection system according to  claim 9 , wherein the extraction unit extracts the data indicating a shortest distance from the measurement point to the calculation surface. 
     
     
         11 . The inspection system according to  claim 9 , wherein the calculation unit calculates the calculation surface by using a plurality of pieces of the point cloud data acquired at a plurality of the measurement points. 
     
     
         12 . An extraction device comprising, when a measurement device arranged at a measurement point in an inside of a tunnel is moved to a plurality of the measurement points in an inside of the tunnel, the measurement device having a reference point and being configured to acquire, as point cloud data, a plurality of pieces of data including a coordinate value and a brightness value of a wall surface of the tunnel by using one or more beams irradiated in irradiation directions at a plurality of different angles with respect to the reference point and receiving reflected light of the beam resulting from scanning the wall surface,
 extraction unit configured to extract the data in point cloud data acquired by the measurement device for each measurement point, based on a distance from the measurement point.   
     
     
         13 . The extraction device according to  claim 12 , wherein the measurement device has a rotation center axis passing through the reference point, rotates one or more of the beams irradiated in irradiation directions at a plurality of different angles with respect to the rotation center axis around the rotation center axis, and receives reflected light of the beam resulting from scanning a wall surface of the tunnel, thereby acquiring the point group data. 
     
     
         14 . The extraction device according to  claim 13 , wherein the extraction unit extracts data on a vertical plane orthogonal to the rotation center axis. 
     
     
         15 . The extraction device according to  claim 13 , wherein the point cloud data are acquired by the measurement device at each measurement point when the measurement device is moved by aligning the rotation center axis with a moving direction of the measurement device. 
     
     
         16 . The extraction device according to  claim 13 , wherein the point cloud data are acquired by the measurement device at each measurement point when the measurement device is moved by aligning the rotation center axis with a center axis of the tunnel. 
     
     
         17 . The extraction device according to  claim 12 , wherein the extraction unit extracts data indicating a shortest distance from the measurement point. 
     
     
         18 . The extraction device according to  claim 12 , wherein data storage unit is caused to store the data together with information indicating the measurement point. 
     
     
         19 . The extraction device according to  claim 18 , wherein the data storage unit is caused to store the data converted into a coordinate value of a common coordinate system between measurement points by using information indicating the measurement points. 
     
     
         20 - 22 . (canceled) 
     
     
         23 . An inspection method comprising:
 causing a measurement device arranged at a measurement point in an inside of a tunnel, the measurement device having a reference point, to acquire, as point cloud data, a plurality of pieces of data including a coordinate value and a brightness value of a wall surface of the tunnel by using one or more beams irradiated in irradiation directions at a plurality of different angles with respect to the reference point, and receiving reflected light of the beam resulting from scanning the wall surface;   causing movement unit to move the measurement device to a plurality of the measurement points in an inside of the tunnel; and   causing extraction unit to extract the data in the point cloud data acquired by the measurement device for each measurement point, based on a distance from the measurement point.   
     
     
         24 - 66 . (canceled)